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  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pri-methods">Private Member Functions</a> &#124;
<a href="#pri-attribs">Private Attributes</a> &#124;
<a href="classRVizInterface-members.html">List of all members</a>  </div>
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<div class="title">RVizInterface Class Reference</div>  </div>
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<p>A class for interfacing between RViz and planning topics.  
 <a href="classRVizInterface.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="rviz__interface_8h_source.html">rviz_interface.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aa28dae09fa5285f8570181ca119717d2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRVizInterface.html#aa28dae09fa5285f8570181ca119717d2">RVizInterface</a> (ros::NodeHandle nh)</td></tr>
<tr class="memdesc:aa28dae09fa5285f8570181ca119717d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for <a class="el" href="classRVizInterface.html" title="A class for interfacing between RViz and planning topics. ">RVizInterface</a> Class.  <a href="#aa28dae09fa5285f8570181ca119717d2">More...</a><br /></td></tr>
<tr class="separator:aa28dae09fa5285f8570181ca119717d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cd5c2922136f4f8ce79738ad6ef4b70"><td class="memItemLeft" align="right" valign="top"><a id="a8cd5c2922136f4f8ce79738ad6ef4b70"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRVizInterface.html#a8cd5c2922136f4f8ce79738ad6ef4b70">spin</a> ()</td></tr>
<tr class="memdesc:a8cd5c2922136f4f8ce79738ad6ef4b70"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls ros spinOnce and pubs data at set frequency. <br /></td></tr>
<tr class="separator:a8cd5c2922136f4f8ce79738ad6ef4b70"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr class="memitem:a884a7808159a0bed99ff8776542bc9f1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRVizInterface.html#a884a7808159a0bed99ff8776542bc9f1">bodyPlanCallback</a> (const global_body_planner::BodyPlan::ConstPtr &amp;msg)</td></tr>
<tr class="memdesc:a884a7808159a0bed99ff8776542bc9f1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback function to handle new body plan data.  <a href="#a884a7808159a0bed99ff8776542bc9f1">More...</a><br /></td></tr>
<tr class="separator:a884a7808159a0bed99ff8776542bc9f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a321493f33e811559ffec4ed4edb5effd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRVizInterface.html#a321493f33e811559ffec4ed4edb5effd">discreteBodyPlanCallback</a> (const global_body_planner::BodyPlan::ConstPtr &amp;msg)</td></tr>
<tr class="memdesc:a321493f33e811559ffec4ed4edb5effd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback function to handle new body plan discrete state data.  <a href="#a321493f33e811559ffec4ed4edb5effd">More...</a><br /></td></tr>
<tr class="separator:a321493f33e811559ffec4ed4edb5effd"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a57bd96ee0a101e605f32c7fedb92a33f"><td class="memItemLeft" align="right" valign="top"><a id="a57bd96ee0a101e605f32c7fedb92a33f"></a>
ros::Subscriber&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRVizInterface.html#a57bd96ee0a101e605f32c7fedb92a33f">body_plan_sub_</a></td></tr>
<tr class="memdesc:a57bd96ee0a101e605f32c7fedb92a33f"><td class="mdescLeft">&#160;</td><td class="mdescRight">ROS subscriber for the body plan. <br /></td></tr>
<tr class="separator:a57bd96ee0a101e605f32c7fedb92a33f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a089f421ffd1885d3cc0dffc5cd8c5101"><td class="memItemLeft" align="right" valign="top"><a id="a089f421ffd1885d3cc0dffc5cd8c5101"></a>
ros::Subscriber&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRVizInterface.html#a089f421ffd1885d3cc0dffc5cd8c5101">discrete_body_plan_sub_</a></td></tr>
<tr class="memdesc:a089f421ffd1885d3cc0dffc5cd8c5101"><td class="mdescLeft">&#160;</td><td class="mdescRight">ROS subscriber for the body plan. <br /></td></tr>
<tr class="separator:a089f421ffd1885d3cc0dffc5cd8c5101"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ba6086c6510e38ffdcda7477caac330"><td class="memItemLeft" align="right" valign="top"><a id="a2ba6086c6510e38ffdcda7477caac330"></a>
ros::Publisher&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRVizInterface.html#a2ba6086c6510e38ffdcda7477caac330">body_plan_viz_pub_</a></td></tr>
<tr class="memdesc:a2ba6086c6510e38ffdcda7477caac330"><td class="mdescLeft">&#160;</td><td class="mdescRight">ROS Publisher for the interpolated body plan vizualization. <br /></td></tr>
<tr class="separator:a2ba6086c6510e38ffdcda7477caac330"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d72b1323a242092c51c9e6ff08ede68"><td class="memItemLeft" align="right" valign="top"><a id="a3d72b1323a242092c51c9e6ff08ede68"></a>
ros::Publisher&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRVizInterface.html#a3d72b1323a242092c51c9e6ff08ede68">discrete_body_plan_viz_pub_</a></td></tr>
<tr class="memdesc:a3d72b1323a242092c51c9e6ff08ede68"><td class="mdescLeft">&#160;</td><td class="mdescRight">ROS Publisher for the discrete body plan vizualization. <br /></td></tr>
<tr class="separator:a3d72b1323a242092c51c9e6ff08ede68"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8617e53fd181aca3ad86f7d83429436a"><td class="memItemLeft" align="right" valign="top"><a id="a8617e53fd181aca3ad86f7d83429436a"></a>
ros::NodeHandle&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRVizInterface.html#a8617e53fd181aca3ad86f7d83429436a">nh_</a></td></tr>
<tr class="memdesc:a8617e53fd181aca3ad86f7d83429436a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Nodehandle to pub to and sub from. <br /></td></tr>
<tr class="separator:a8617e53fd181aca3ad86f7d83429436a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a985879ba7abfa1e1fc6cd57e56072d9b"><td class="memItemLeft" align="right" valign="top"><a id="a985879ba7abfa1e1fc6cd57e56072d9b"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRVizInterface.html#a985879ba7abfa1e1fc6cd57e56072d9b">update_rate_</a></td></tr>
<tr class="memdesc:a985879ba7abfa1e1fc6cd57e56072d9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update rate for sending and receiving data, unused since pubs are called in callbacks. <br /></td></tr>
<tr class="separator:a985879ba7abfa1e1fc6cd57e56072d9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a793eebfebed50f8320c95117876b31cf"><td class="memItemLeft" align="right" valign="top"><a id="a793eebfebed50f8320c95117876b31cf"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRVizInterface.html#a793eebfebed50f8320c95117876b31cf">map_frame_</a></td></tr>
<tr class="memdesc:a793eebfebed50f8320c95117876b31cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Handle for the map frame. <br /></td></tr>
<tr class="separator:a793eebfebed50f8320c95117876b31cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A class for interfacing between RViz and planning topics. </p>
<p><a class="el" href="classRVizInterface.html" title="A class for interfacing between RViz and planning topics. ">RVizInterface</a> is a container for all of the logic utilized in the template node. The implementation must provide a clean and high level interface to the core algorithm </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="aa28dae09fa5285f8570181ca119717d2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa28dae09fa5285f8570181ca119717d2">&#9670;&nbsp;</a></span>RVizInterface()</h2>

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      <table class="memname">
        <tr>
          <td class="memname">RVizInterface::RVizInterface </td>
          <td>(</td>
          <td class="paramtype">ros::NodeHandle&#160;</td>
          <td class="paramname"><em>nh</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor for <a class="el" href="classRVizInterface.html" title="A class for interfacing between RViz and planning topics. ">RVizInterface</a> Class. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nh</td><td>ROS NodeHandle to publish and subscribe from </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Constructed object of type <a class="el" href="classRVizInterface.html" title="A class for interfacing between RViz and planning topics. ">RVizInterface</a> </dd></dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a884a7808159a0bed99ff8776542bc9f1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a884a7808159a0bed99ff8776542bc9f1">&#9670;&nbsp;</a></span>bodyPlanCallback()</h2>

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  <td class="mlabels-left">
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          <td class="memname">void RVizInterface::bodyPlanCallback </td>
          <td>(</td>
          <td class="paramtype">const global_body_planner::BodyPlan::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>msg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Callback function to handle new body plan data. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">Body</td><td>plan message contining interpolated output of body planner </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a321493f33e811559ffec4ed4edb5effd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a321493f33e811559ffec4ed4edb5effd">&#9670;&nbsp;</a></span>discreteBodyPlanCallback()</h2>

<div class="memitem">
<div class="memproto">
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  <td class="mlabels-left">
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          <td class="memname">void RVizInterface::discreteBodyPlanCallback </td>
          <td>(</td>
          <td class="paramtype">const global_body_planner::BodyPlan::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>msg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Callback function to handle new body plan discrete state data. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">Body</td><td>plan message contining discrete output of body planner </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/global_body_planner/<a class="el" href="rviz__interface_8h_source.html">rviz_interface.h</a></li>
<li>src/rviz_interface.cpp</li>
</ul>
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